Merge branch 'main' of https://github.com/BenoitGeslain/Visuo-haptic-…

…Illusions-Toolkit

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scenes/RedirectionCorridor.unity

@@ -1184,7 +1184,7 @@ MonoBehaviour:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 358983253}
-  m_Enabled: 1
+  m_Enabled: 0
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 51d618b1b4dddf44a8b914838ac6e9b6, type: 3}
   m_Name: 
@@ -1231,8 +1231,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: bb5310432868de244b86ddcc9c3aa8c1, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  filename: C:\Users\ms-vr\projects\unity\toolkit\python\RedirectionPlotter.py
-  pythonPath: C:\Users\ms-vr\anaconda3\envs\plot\python.exe
 --- !u!1 &398215666
 GameObject:
   m_ObjectHideFlags: 0
@@ -2332,8 +2330,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: bb5310432868de244b86ddcc9c3aa8c1, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  filename: 
-  pythonPath: 
 --- !u!1 &858473990
 GameObject:
   m_ObjectHideFlags: 0

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scripts/CorridorRedirection.cs

@@ -21,16 +21,11 @@ public class CorridorRedirection : MonoBehaviour {
 		[SerializeField] private Transform start, end;
 		private float NormalizedDistance => Mathf.InverseLerp(start.position.z, end.position.z, UserHead.position.z);
 
-        private void Start() => redirectionScript = this.GetComponent<WorldRedirection>();
-
-        private void Update() {
+		private void Start() => redirectionScript = GetComponent<WorldRedirection>();
 
+		private void Update() {
 			redirectionApplied = redirectionScript.GetAngularRedirection().eulerAngles.y;
-			if (redirectionApplied > redirectionAmount) {
-				redirectionScript.StopRedirection();
-			} else {
-				redirectionScript.StartRedirection();
-			}
+			redirectionScript.redirect = redirectionApplied < redirectionAmount;
 		}
 	}
 }

Visuo-haptic Toolkit/Assets/Demo Scenes/Corridor/Scripts/CorridorRepresentation.cs

@@ -6,13 +6,10 @@ public class CorridorRepresentation : MonoBehaviour {
 
 	private WorldRedirection script;
 
-	private void Start() {
-		script = this.GetComponent<WorldRedirection>();
-	}
+	private void Start() => script = GetComponent<WorldRedirection>();
 
 	private void Update() {
-		virtualCorridor.SetPositionAndRotation(physicalCorridor.position, physicalCorridor.rotation);
-		virtualCorridor.position = physicalCorridor.position + script.scene.GetHeadToHeadVector();
+		virtualCorridor.SetPositionAndRotation(physicalCorridor.position + script.scene.GetHeadToHeadVector(), physicalCorridor.rotation);
 		virtualCorridor.RotateAround(script.scene.physicalHead.position, Vector3.up, -script.scene.HeadToHeadRedirection.eulerAngles.y);
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Prefabs/Redirection/ToolkitWorldRedirection.prefab

@@ -11,8 +11,6 @@ GameObject:
   - component: {fileID: 3345062529341880481}
   - component: {fileID: 7088029602675669135}
   - component: {fileID: 3621196646475796290}
-  - component: {fileID: 2164931620210237325}
-  - component: {fileID: 3527750865740220717}
   m_Layer: 0
   m_Name: ToolkitWorldRedirection
   m_TagString: Untagged
@@ -54,13 +52,10 @@ MonoBehaviour:
     physicalHead: {fileID: 0}
     virtualHead: {fileID: 0}
     physicalTarget: {fileID: 0}
-    physicalTargetPosition: {x: 0, y: 0, z: 0}
     virtualTarget: {fileID: 0}
-    virtualTargetPosition: {x: 0, y: 0, z: 0}
     origin: {fileID: 0}
     targets:
     - {fileID: 0}
-    radius: 5
     applyDampening: 0
     applySmoothing: 0
     selectedTarget: {fileID: 0}
@@ -70,8 +65,14 @@ MonoBehaviour:
     previousHeadPosition: {x: 0, y: 0, z: 0}
     previousHeadRotation: {x: 0, y: 0, z: 0, w: 0}
     previousRedirection: 0
+    strategyDirection: {x: 0, y: 0, z: 0}
+    parameters: {fileID: 0}
+    aggregateFunction: 0
+    enableHybridOverTime: 1
+    enableHybridRotational: 1
+    enableHybridCurvature: 1
   redirect: 1
-  technique: 2
+  _technique: 0
   strategy: 3
 --- !u!114 &3621196646475796290
 MonoBehaviour:
@@ -86,34 +87,6 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   targetPrefab: {fileID: 84340963187888445, guid: 786584c1c713db54b9cad6864b80089b, type: 3}
-  active: {fileID: 0}
-  inactive: {fileID: 2100000, guid: fdc7faebe87ef18468772439a4b880b2, type: 2}
+  activeMaterial: {fileID: 0}
+  inactiveMaterial: {fileID: 0}
   orbitResolution: 3
---- !u!114 &2164931620210237325
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 200869264966477082}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: f426d30751fd5b14c9c1093c441414b3, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  physicalHead: {fileID: 0}
-  world: {fileID: 0}
-  characteristics: 100
---- !u!114 &3527750865740220717
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 200869264966477082}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: a9825707130c9eb4a9c129292679e71c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  parameters: {fileID: 11400000, guid: c39097e50bc3898498d2edf378be3a21, type: 2}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Calibration/QuickCalibration.cs

@@ -1,19 +1,16 @@
 using UnityEngine;
 
-using VHToolkit.Demo;
-
 namespace VHToolkit.Calibration {
 
 	public class QuickCalibration : MonoBehaviour {
 		[SerializeField] private Transform physicalHead;
 		[SerializeField] private Transform world;
 
-        private void Update() {
+		private void Update() {
 			if (Input.GetKeyDown(KeyCode.Space)) {
 				Debug.Log("Resetting world position");
 				world.SetPositionAndRotation(new(physicalHead.position.x, 0f, physicalHead.position.z),
 											 Quaternion.Euler(0f, physicalHead.rotation.eulerAngles.y, 0f));
-				// this.GetComponent<CorridorRedirection>().state = 0;
 			}
 		}
 	}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Logging/JsonLogging.cs

@@ -66,7 +66,7 @@ public class JsonLogging : MonoBehaviour {
 		private string fileName;
 		private readonly int bufferSize = 10; // number of records kept before writing to disk
 
-		private List<JsonRedirectionData> records = new();
+		private Queue<JsonRedirectionData> records = new();
 
 		private Interaction script;
 
@@ -76,7 +76,7 @@ private void Start() {
 		}
 
 		private void Update() {
-			void writeRecords<Data>(List<Data> records) {
+			void writeRecords<Data>(Queue<Data> records) {
 				if (records.Count > bufferSize) {
 					using var writer = new StreamWriter(fileName, append: true);
 					foreach (var record in records) {
@@ -86,15 +86,14 @@ void writeRecords<Data>(List<Data> records) {
 				}
 			}
 
-			records.Add(new JsonRedirectionData(script));
+			records.Enqueue(new JsonRedirectionData(script));
 			writeRecords(records);
 		}
 
 		public void CreateNewFile() {
-			Debug.Log("Create Json log file.");
 			Directory.CreateDirectory(logDirectoryPath);
 			fileName = $"{logDirectoryPath}{optionalFilenamePrefix}{DateTime.Now:yyyy-MM-dd_HH-mm-ss}.jsonl";
-			records = new List<JsonRedirectionData>();
+			records = new Queue<JsonRedirectionData>();
 		}
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Body Redirection/Techniques.cs

@@ -140,8 +140,8 @@ public override void Redirect(Scene scene) {
 	public class ResetBodyRedirection : BodyRedirectionTechnique {
 
 		public override void Redirect(Scene scene) {
-			foreach ((var limb, var t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
-				limb.virtualLimb.ForEach(vlimb => vlimb.Translate(t + t.magnitude * scene.parameters.ResetRedirectionCoeff * (limb.physicalLimb.position - vlimb.position).normalized, relativeTo: Space.World));
+			foreach (var (limb, t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
+				limb.virtualLimb.ForEach(vlimb => vlimb.Translate(t + t.magnitude * Toolkit.Instance.parameters.ResetRedirectionCoeff * (limb.physicalLimb.position - vlimb.position).normalized, relativeTo: Space.World));
 			};
 		}
 	}
@@ -153,7 +153,7 @@ public override void Redirect(Scene scene) {
 	public class NoBodyRedirection : BodyRedirectionTechnique {
 
 		public override void Redirect(Scene scene) {
-			foreach ((var limb, var t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
+			foreach (var (limb, t) in scene.limbs.Zip(scene.GetLimbInstantTranslation())) {
 				limb.virtualLimb.ForEach(vlimb => vlimb.Translate(t, relativeTo: Space.World));
 			}
 		}

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/Interaction.cs

@@ -7,14 +7,10 @@ namespace VHToolkit.Redirection {
 	/// <summary>
 	/// This is the base class for the visuo-haptic techniques managers such as BodyRedirection.
 	/// </summary>
-    public class Interaction : MonoBehaviour {
+	public class Interaction : MonoBehaviour {
 		public Scene scene;
 		public bool redirect = false;
 
-		public void StartRedirection() => redirect = true;
-
-		public void StopRedirection() => redirect = false;
-
 		public List<Transform> GetPhysicalLimbs() => scene.limbs.ConvertAll(limb => limb.physicalLimb);
 
 		public void AddPhysicalLimb(Transform physicalLimb, IEnumerable<Transform> virtualLimbs) => scene.limbs.Add(new(physicalLimb, virtualLimbs.ToList()));
@@ -24,5 +20,5 @@ public class Interaction : MonoBehaviour {
 		public List<Limb> GetLimbs() => scene.limbs;
 
 		public void SetLimbs(IEnumerable<Limb> limbs) => scene.limbs = limbs.ToList();
-    }
+	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Redirection/World Redirection/Strategies.cs

@@ -43,7 +43,11 @@ public override Vector3 SteerTo(Scene scene) {
 			float bearing(Transform t) => Vector3.Angle(
 				Vector3.ProjectOnPlane(scene.physicalHead.forward, Vector3.up),
 				Vector3.ProjectOnPlane(t.position - scene.physicalHead.position, Vector3.up));
-			scene.selectedTarget = scene.targets.MinBy(bearing);
+			scene.selectedTarget = scene.targets.Where(t => t != null).MinBy(bearing);
+			if (scene.selectedTarget == null) {
+				Debug.LogWarning("Using SteerToMultipleTargets but scene.targets is empty or all-null.");
+				return scene.physicalHead.forward;
+			}
 			return scene.selectedTarget.position - scene.physicalHead.position;
 		}
 	}
@@ -56,8 +60,6 @@ class SteerInDirection : WorldRedirectionStrategy {
 		/// </summary>
 		/// <param name="scene"></param>
 		/// <returns></returns>
-		public override Vector3 SteerTo(Scene scene) {
-			return scene.physicalHead.rotation * scene.strategyDirection;
-		}
+		public override Vector3 SteerTo(Scene scene) => scene.physicalHead.rotation * scene.strategyDirection;
 	}
 }

Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Backport.cs

@@ -31,10 +31,12 @@ public static TSource MinBy<TSource, TKey>(this IEnumerable<TSource> source, Fun
 			TSource result = default;
 			TKey value = default;
 			foreach (var x in source) {
-				var newValue = keySelector(x);
-				if (result is null || newValue.CompareTo(value) < 0) {
-					result = x;
-					value = newValue;
+				if (x != null) {
+					var newValue = keySelector(x);
+					if (result is null || newValue.CompareTo(value) < 0) {
+						result = x;
+						value = newValue;
+					}
 				}
 			}
 			return result;